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<ul>
<li><strong>核心思想</strong>：如果一个点在给定半径内的邻居数量少于阈值，则认为该点是孤立的异常点。</li>
<li><strong>数学表达</strong>：<ul>
<li>对点云中的每个点 ( p_i )：<ul>
<li>统计在半径 ( r ) 范围内的邻居数量 ( N_i )</li>
<li>如果 ( N_i &lt; K )（( K ) 为设定的最小邻居数阈值），则剔除 ( p_i )</li>
</ul>
</li>
</ul>
</li>
</ul>
<hr>
<h3 id="参数说明"><a href="#参数说明" class="headerlink" title="参数说明"></a><strong>参数说明</strong></h3><table>
<thead>
<tr>
<th>参数</th>
<th>作用</th>
<th>合理取值范围</th>
</tr>
</thead>
<tbody><tr>
<td><code>setRadiusSearch(r)</code></td>
<td>定义邻域搜索半径（单位：米）</td>
<td>0.1~1.0（依点云密度）</td>
</tr>
<tr>
<td><code>setMinNeighborsInRadius(K)</code></td>
<td>设定保留点所需的最小邻居数量（低于此值则剔除）</td>
<td>1~5</td>
</tr>
</tbody></table>
<hr>
<h3 id="算法特点"><a href="#算法特点" class="headerlink" title="算法特点"></a>算法特点</h3><table>
<thead>
<tr>
<th><strong>优点</strong></th>
<th><strong>缺点</strong></th>
</tr>
</thead>
<tbody><tr>
<td>有效去除孤立噪声点</td>
<td>计算复杂度高（需构建KD树近邻搜索）</td>
</tr>
<tr>
<td>保留点云主体结构</td>
<td>可能误删稀疏区域的真实点</td>
</tr>
<tr>
<td>参数物理意义明确</td>
<td>对半径和K值敏感</td>
</tr>
</tbody></table>
<hr>
<h3 id="参数选择建议"><a href="#参数选择建议" class="headerlink" title="参数选择建议"></a>参数选择建议</h3><ol>
<li><p><strong>搜索半径（<code>r</code>）</strong>：</p>
<ul>
<li>通常设置为点云平均间距的 <strong>3~5倍</strong>  </li>
<li>例如：点间距为0.2m → 选择 <code>r=0.6~1.0</code></li>
</ul>
</li>
<li><p><strong>最小邻居数（<code>K</code>）</strong>：</p>
<ul>
<li>对于高噪声数据：<code>K=2~3</code>  </li>
<li>对于需要严格过滤的情况：<code>K=4~5</code></li>
</ul>
</li>
</ol>
<hr>
<h2 id="条件移除原理"><a href="#条件移除原理" class="headerlink" title="条件移除原理"></a>条件移除原理</h2><p>条件移除通过以下步骤工作：</p>
<ol>
<li><strong>定义条件</strong>：设置一个或多个逻辑判断条件（如 <code>z &gt; 0.5</code>）。</li>
<li><strong>应用条件</strong>：遍历点云，保留满足条件的点（或剔除不满足的点）。</li>
<li><strong>输出结果</strong>：生成新的点云，仅包含符合条件的点。</li>
</ol>
<hr>
<h3 id="关键参数说明"><a href="#关键参数说明" class="headerlink" title="关键参数说明"></a>关键参数说明</h3><table>
<thead>
<tr>
<th>参数 &#x2F; 方法</th>
<th>作用</th>
</tr>
</thead>
<tbody><tr>
<td><code>pcl::ConditionAnd</code></td>
<td>逻辑“与”条件，所有比较条件必须同时满足</td>
</tr>
<tr>
<td><code>pcl::FieldComparison</code></td>
<td>定义字段比较条件（如 <code>z &gt; 0</code>）</td>
</tr>
<tr>
<td><code>setKeepOrganized(true)</code></td>
<td>保持点云结构，被剔除的点用 <code>NaN</code> 填充</td>
</tr>
<tr>
<td><code>setKeepOrganized(false)</code></td>
<td>直接删除被剔除的点，点云尺寸会缩小</td>
</tr>
</tbody></table>
<hr>
<h3 id="条件类型"><a href="#条件类型" class="headerlink" title="条件类型"></a>条件类型</h3><p>PCL 支持多种条件组合：</p>
<h4 id="1-单条件"><a href="#1-单条件" class="headerlink" title="(1) 单条件"></a><strong>(1) 单条件</strong></h4><figure class="highlight cpp"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br></pre></td><td class="code"><pre><span class="line"><span class="comment">// 只保留 z &gt; 0.5 的点</span></span><br><span class="line">range_cond-&gt;<span class="built_in">addComparison</span>(</span><br><span class="line">    <span class="keyword">new</span> pcl::<span class="built_in">FieldComparison</span>&lt;pcl::PointXYZ&gt;(<span class="string">&quot;z&quot;</span>, pcl::ComparisonOps::GT, <span class="number">0.5</span>)</span><br><span class="line">);</span><br></pre></td></tr></table></figure>

<h4 id="2-多条件组合（AND-OR）"><a href="#2-多条件组合（AND-OR）" class="headerlink" title="(2) 多条件组合（AND &#x2F; OR）"></a><strong>(2) 多条件组合（AND &#x2F; OR）</strong></h4><figure class="highlight cpp"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br></pre></td><td class="code"><pre><span class="line"><span class="comment">// 保留 0.0 &lt; z &lt; 0.8 的点（AND 条件）</span></span><br><span class="line">pcl::ConditionAnd&lt;pcl::PointXYZ&gt;::<span class="function">Ptr <span class="title">range_cond</span><span class="params">(<span class="keyword">new</span> pcl::ConditionAnd&lt;pcl::PointXYZ&gt;())</span></span>;</span><br><span class="line">range_cond-&gt;<span class="built_in">addComparison</span>(<span class="keyword">new</span> pcl::<span class="built_in">FieldComparison</span>&lt;pcl::PointXYZ&gt;(<span class="string">&quot;z&quot;</span>, pcl::ComparisonOps::GT, <span class="number">0.0</span>));</span><br><span class="line">range_cond-&gt;<span class="built_in">addComparison</span>(<span class="keyword">new</span> pcl::<span class="built_in">FieldComparison</span>&lt;pcl::PointXYZ&gt;(<span class="string">&quot;z&quot;</span>, pcl::ComparisonOps::LT, <span class="number">0.8</span>));</span><br></pre></td></tr></table></figure>

<figure class="highlight cpp"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br></pre></td><td class="code"><pre><span class="line"><span class="comment">// 保留 z &lt; 0.2 或 z &gt; 0.8 的点（OR 条件）</span></span><br><span class="line">pcl::ConditionOr&lt;pcl::PointXYZ&gt;::<span class="function">Ptr <span class="title">range_cond</span><span class="params">(<span class="keyword">new</span> pcl::ConditionOr&lt;pcl::PointXYZ&gt;())</span></span>;</span><br><span class="line">range_cond-&gt;<span class="built_in">addComparison</span>(<span class="keyword">new</span> pcl::<span class="built_in">FieldComparison</span>&lt;pcl::PointXYZ&gt;(<span class="string">&quot;z&quot;</span>, pcl::ComparisonOps::LT, <span class="number">0.2</span>));</span><br><span class="line">range_cond-&gt;<span class="built_in">addComparison</span>(<span class="keyword">new</span> pcl::<span class="built_in">FieldComparison</span>&lt;pcl::PointXYZ&gt;(<span class="string">&quot;z&quot;</span>, pcl::ComparisonOps::GT, <span class="number">0.8</span>));</span><br></pre></td></tr></table></figure>

<h4 id="3-其他字段（强度、颜色等）"><a href="#3-其他字段（强度、颜色等）" class="headerlink" title="(3) 其他字段（强度、颜色等）"></a><strong>(3) 其他字段（强度、颜色等）</strong></h4><figure class="highlight cpp"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br></pre></td><td class="code"><pre><span class="line"><span class="comment">// 保留强度 &gt; 50 的点</span></span><br><span class="line">range_cond-&gt;<span class="built_in">addComparison</span>(</span><br><span class="line">    <span class="keyword">new</span> pcl::<span class="built_in">FieldComparison</span>&lt;pcl::PointXYZI&gt;(<span class="string">&quot;intensity&quot;</span>, pcl::ComparisonOps::GT, <span class="number">50.0</span>)</span><br><span class="line">);</span><br></pre></td></tr></table></figure>

<h2 id="代码实现"><a href="#代码实现" class="headerlink" title="代码实现"></a>代码实现</h2><figure class="highlight c++"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br><span class="line">13</span><br><span class="line">14</span><br><span class="line">15</span><br><span class="line">16</span><br><span class="line">17</span><br><span class="line">18</span><br><span class="line">19</span><br><span class="line">20</span><br><span class="line">21</span><br><span class="line">22</span><br><span class="line">23</span><br><span class="line">24</span><br><span class="line">25</span><br><span class="line">26</span><br><span class="line">27</span><br><span class="line">28</span><br><span class="line">29</span><br><span class="line">30</span><br><span class="line">31</span><br><span class="line">32</span><br><span class="line">33</span><br><span class="line">34</span><br><span class="line">35</span><br><span class="line">36</span><br><span class="line">37</span><br><span class="line">38</span><br><span class="line">39</span><br><span class="line">40</span><br><span class="line">41</span><br><span class="line">42</span><br><span class="line">43</span><br><span class="line">44</span><br><span class="line">45</span><br><span class="line">46</span><br><span class="line">47</span><br><span class="line">48</span><br><span class="line">49</span><br><span class="line">50</span><br><span class="line">51</span><br><span class="line">52</span><br><span class="line">53</span><br><span class="line">54</span><br><span class="line">55</span><br><span class="line">56</span><br><span class="line">57</span><br><span class="line">58</span><br><span class="line">59</span><br><span class="line">60</span><br><span class="line">61</span><br><span class="line">62</span><br><span class="line">63</span><br><span class="line">64</span><br><span class="line">65</span><br><span class="line">66</span><br><span class="line">67</span><br><span class="line">68</span><br><span class="line">69</span><br><span class="line">70</span><br><span class="line">71</span><br><span class="line">72</span><br><span class="line">73</span><br><span class="line">74</span><br><span class="line">75</span><br><span class="line">76</span><br><span class="line">77</span><br><span class="line">78</span><br><span class="line">79</span><br><span class="line">80</span><br></pre></td><td class="code"><pre><span class="line"><span class="meta">#<span class="keyword">include</span> <span class="string">&lt;iostream&gt;</span>                                    <span class="comment">// 引入标准输入输出</span></span></span><br><span class="line"><span class="meta">#<span class="keyword">include</span> <span class="string">&lt;pcl/point_types.h&gt;</span>                           <span class="comment">// 引入点类型定义</span></span></span><br><span class="line"><span class="meta">#<span class="keyword">include</span> <span class="string">&lt;pcl/filters/radius_outlier_removal.h&gt;</span>        <span class="comment">// 引入半径离群点移除滤波器</span></span></span><br><span class="line"><span class="meta">#<span class="keyword">include</span> <span class="string">&lt;pcl/filters/conditional_removal.h&gt;</span>           <span class="comment">// 引入条件滤波器</span></span></span><br><span class="line"></span><br><span class="line"><span class="function"><span class="type">int</span> <span class="title">main</span> <span class="params">(<span class="type">int</span> argc, <span class="type">char</span>** argv)</span></span></span><br><span class="line"><span class="function"></span>&#123;</span><br><span class="line">  <span class="comment">// 检查命令行参数：必须输入 -r 或 -c</span></span><br><span class="line">  <span class="keyword">if</span> (argc != <span class="number">2</span>)</span><br><span class="line">  &#123;</span><br><span class="line">    std::cerr &lt;&lt; <span class="string">&quot;请在命令行参数中指定 &#x27;-r&#x27; 或 &#x27;-c&#x27;&quot;</span> &lt;&lt; std::endl;</span><br><span class="line">    <span class="built_in">exit</span>(<span class="number">0</span>);</span><br><span class="line">  &#125;</span><br><span class="line"></span><br><span class="line">  <span class="comment">// 创建原始点云指针</span></span><br><span class="line">  pcl::PointCloud&lt;pcl::PointXYZ&gt;::<span class="function">Ptr <span class="title">cloud</span><span class="params">(<span class="keyword">new</span> pcl::PointCloud&lt;pcl::PointXYZ&gt;)</span></span>;</span><br><span class="line">  <span class="comment">// 创建滤波后点云指针</span></span><br><span class="line">  pcl::PointCloud&lt;pcl::PointXYZ&gt;::<span class="function">Ptr <span class="title">cloud_filtered</span><span class="params">(<span class="keyword">new</span> pcl::PointCloud&lt;pcl::PointXYZ&gt;)</span></span>;</span><br><span class="line"></span><br><span class="line">  <span class="comment">// 生成 5 个随机点</span></span><br><span class="line">  cloud-&gt;width  = <span class="number">5</span>;</span><br><span class="line">  cloud-&gt;height = <span class="number">1</span>;</span><br><span class="line">  cloud-&gt;points.<span class="built_in">resize</span>(cloud-&gt;width * cloud-&gt;height);</span><br><span class="line">  <span class="keyword">for</span> (<span class="type">size_t</span> i = <span class="number">0</span>; i &lt; cloud-&gt;points.<span class="built_in">size</span>(); ++i)</span><br><span class="line">  &#123;</span><br><span class="line">    cloud-&gt;points[i].x = <span class="number">1024</span> * <span class="built_in">rand</span>() / (RAND_MAX + <span class="number">1.0f</span>);  <span class="comment">// 随机 x</span></span><br><span class="line">    cloud-&gt;points[i].y = <span class="number">1024</span> * <span class="built_in">rand</span>() / (RAND_MAX + <span class="number">1.0f</span>);  <span class="comment">// 随机 y</span></span><br><span class="line">    cloud-&gt;points[i].z = <span class="number">1024</span> * <span class="built_in">rand</span>() / (RAND_MAX + <span class="number">1.0f</span>);  <span class="comment">// 随机 z</span></span><br><span class="line">  &#125;</span><br><span class="line"></span><br><span class="line">  <span class="comment">// 根据命令行参数选择滤波方式</span></span><br><span class="line">  <span class="keyword">if</span> (<span class="built_in">strcmp</span>(argv[<span class="number">1</span>], <span class="string">&quot;-r&quot;</span>) == <span class="number">0</span>) &#123;</span><br><span class="line">    <span class="comment">// 半径离群点移除滤波器</span></span><br><span class="line">    pcl::RadiusOutlierRemoval&lt;pcl::PointXYZ&gt; outrem;</span><br><span class="line">    outrem.<span class="built_in">setInputCloud</span>(cloud);              <span class="comment">// 输入点云</span></span><br><span class="line">    outrem.<span class="built_in">setRadiusSearch</span>(<span class="number">0.8</span>);              <span class="comment">// 搜索半径 0.8</span></span><br><span class="line">    outrem.<span class="built_in">setMinNeighborsInRadius</span>(<span class="number">2</span>);        <span class="comment">// 半径内最少邻居数 2</span></span><br><span class="line">    outrem.<span class="built_in">filter</span>(*cloud_filtered);           <span class="comment">// 执行滤波</span></span><br><span class="line">  &#125;</span><br><span class="line">  <span class="keyword">else</span> <span class="keyword">if</span> (<span class="built_in">strcmp</span>(argv[<span class="number">1</span>], <span class="string">&quot;-c&quot;</span>) == <span class="number">0</span>) &#123;</span><br><span class="line">    <span class="comment">// 条件滤波：只保留 z 在 (0, 0.8) 之间的点</span></span><br><span class="line">    pcl::ConditionAnd&lt;pcl::PointXYZ&gt;::Ptr <span class="built_in">range_cond</span>(</span><br><span class="line">        <span class="keyword">new</span> pcl::<span class="built_in">ConditionAnd</span>&lt;pcl::PointXYZ&gt;());</span><br><span class="line">    <span class="comment">// 添加条件：z &gt; 0</span></span><br><span class="line">    range_cond-&gt;<span class="built_in">addComparison</span>(</span><br><span class="line">        pcl::FieldComparison&lt;pcl::PointXYZ&gt;::<span class="built_in">ConstPtr</span>(</span><br><span class="line">            <span class="keyword">new</span> pcl::<span class="built_in">FieldComparison</span>&lt;pcl::PointXYZ&gt;(<span class="string">&quot;z&quot;</span>, pcl::ComparisonOps::GT, <span class="number">0.0</span>)));</span><br><span class="line">    <span class="comment">// 添加条件：z &lt; 0.8</span></span><br><span class="line">    range_cond-&gt;<span class="built_in">addComparison</span>(</span><br><span class="line">        pcl::FieldComparison&lt;pcl::PointXYZ&gt;::<span class="built_in">ConstPtr</span>(</span><br><span class="line">            <span class="keyword">new</span> pcl::<span class="built_in">FieldComparison</span>&lt;pcl::PointXYZ&gt;(<span class="string">&quot;z&quot;</span>, pcl::ComparisonOps::LT, <span class="number">0.8</span>)));</span><br><span class="line"></span><br><span class="line">    <span class="comment">// 创建条件滤波器</span></span><br><span class="line">    pcl::ConditionalRemoval&lt;pcl::PointXYZ&gt; condrem;</span><br><span class="line">    condrem.<span class="built_in">setCondition</span>(range_cond);         <span class="comment">// 设置条件</span></span><br><span class="line">    condrem.<span class="built_in">setInputCloud</span>(cloud);             <span class="comment">// 输入点云</span></span><br><span class="line">    condrem.<span class="built_in">setKeepOrganized</span>(<span class="literal">true</span>);           <span class="comment">// 保持点云有序（保留 NaN）</span></span><br><span class="line">    condrem.<span class="built_in">filter</span>(*cloud_filtered);          <span class="comment">// 执行滤波</span></span><br><span class="line">  &#125;</span><br><span class="line">  <span class="keyword">else</span> &#123;</span><br><span class="line">    std::cerr &lt;&lt; <span class="string">&quot;请在命令行参数中指定 &#x27;-r&#x27; 或 &#x27;-c&#x27;&quot;</span> &lt;&lt; std::endl;</span><br><span class="line">    <span class="built_in">exit</span>(<span class="number">0</span>);</span><br><span class="line">  &#125;</span><br><span class="line"></span><br><span class="line">  <span class="comment">// 打印滤波前点云（英文→中文）</span></span><br><span class="line">  std::cerr &lt;&lt; <span class="string">&quot;滤波前的点云：&quot;</span> &lt;&lt; std::endl;</span><br><span class="line">  <span class="keyword">for</span> (<span class="type">size_t</span> i = <span class="number">0</span>; i &lt; cloud-&gt;points.<span class="built_in">size</span>(); ++i)</span><br><span class="line">    std::cerr &lt;&lt; <span class="string">&quot;    &quot;</span> &lt;&lt; cloud-&gt;points[i].x &lt;&lt; <span class="string">&quot; &quot;</span></span><br><span class="line">                        &lt;&lt; cloud-&gt;points[i].y &lt;&lt; <span class="string">&quot; &quot;</span></span><br><span class="line">                        &lt;&lt; cloud-&gt;points[i].z &lt;&lt; std::endl;</span><br><span class="line"></span><br><span class="line">  <span class="comment">// 打印滤波后点云（英文→中文）</span></span><br><span class="line">  std::cerr &lt;&lt; <span class="string">&quot;滤波后的点云：&quot;</span> &lt;&lt; std::endl;</span><br><span class="line">  <span class="keyword">for</span> (<span class="type">size_t</span> i = <span class="number">0</span>; i &lt; cloud_filtered-&gt;points.<span class="built_in">size</span>(); ++i)</span><br><span class="line">    std::cerr &lt;&lt; <span class="string">&quot;    &quot;</span> &lt;&lt; cloud_filtered-&gt;points[i].x &lt;&lt; <span class="string">&quot; &quot;</span></span><br><span class="line">                        &lt;&lt; cloud_filtered-&gt;points[i].y &lt;&lt; <span class="string">&quot; &quot;</span></span><br><span class="line">                        &lt;&lt; cloud_filtered-&gt;points[i].z &lt;&lt; std::endl;</span><br><span class="line"></span><br><span class="line">  <span class="keyword">return</span> (<span class="number">0</span>);  <span class="comment">// 程序结束</span></span><br><span class="line">&#125;</span><br></pre></td></tr></table></figure>

<h2 id="终端输出实例"><a href="#终端输出实例" class="headerlink" title="终端输出实例"></a>终端输出实例</h2><figure class="highlight bash"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br><span class="line">13</span><br><span class="line">14</span><br><span class="line">15</span><br><span class="line">16</span><br><span class="line">17</span><br><span class="line">18</span><br><span class="line">19</span><br><span class="line">20</span><br><span class="line">21</span><br></pre></td><td class="code"><pre><span class="line">滤波前的点云：</span><br><span class="line">    0.352222 -0.151883 -0.106395</span><br><span class="line">    -0.397406 -0.473106 0.292602</span><br><span class="line">    -0.731898 0.667105 0.441304</span><br><span class="line">    -0.734766 0.854581 -0.0361733</span><br><span class="line">    -0.4607 -0.277468 -0.916762</span><br><span class="line">滤波后的点云：</span><br><span class="line"></span><br><span class="line">滤波前的点云：</span><br><span class="line">    0.352222 -0.151883 -0.106395</span><br><span class="line">    -0.397406 -0.473106 0.292602</span><br><span class="line">    -0.731898 0.667105 0.441304</span><br><span class="line">    -0.734766 0.854581 -0.0361733</span><br><span class="line">    -0.4607 -0.277468 -0.916762</span><br><span class="line">滤波后的点云：</span><br><span class="line">    nan nan nan</span><br><span class="line">    -0.397406 -0.473106 0.292602</span><br><span class="line">    -0.731898 0.667105 0.441304</span><br><span class="line">    nan nan nan</span><br><span class="line">    nan nan nan</span><br><span class="line"></span><br></pre></td></tr></table></figure>



<hr>
<h2 id="对比滤波方法"><a href="#对比滤波方法" class="headerlink" title="对比滤波方法"></a><strong>对比滤波方法</strong></h2><table>
<thead>
<tr>
<th><strong>方法</strong></th>
<th><strong>优点</strong></th>
<th><strong>缺点</strong></th>
</tr>
</thead>
<tbody><tr>
<td><strong>条件移除</strong></td>
<td>灵活，可自定义任意条件</td>
<td>计算量较大</td>
</tr>
<tr>
<td><strong>半径滤波</strong></td>
<td>适合去除孤立噪声</td>
<td>不适用于结构化数据</td>
</tr>
<tr>
<td><strong>体素滤波</strong></td>
<td>高效降采样</td>
<td>无法基于属性过滤</td>
</tr>
</tbody></table>
<hr>
</article><div class="post-copyright"><div class="post-copyright__author"><span class="post-copyright-meta"><i class="fas fa-circle-user fa-fw"></i>文章作者: </span><span class="post-copyright-info"><a href="https://ckyfi9zero.github.io">Fi9zero</a></span></div><div class="post-copyright__type"><span class="post-copyright-meta"><i class="fas fa-square-arrow-up-right fa-fw"></i>文章链接: </span><span class="post-copyright-info"><a href="https://ckyfi9zero.github.io/2025/08/01/2025-08-01-%E5%9C%A8%E6%BB%A4%E6%B3%A2%E5%99%A8%E6%A8%A1%E5%9D%97%E7%A7%BB%E9%99%A4%E7%A6%BB%E7%BE%A4%E7%82%B9/">https://ckyfi9zero.github.io/2025/08/01/2025-08-01-%E5%9C%A8%E6%BB%A4%E6%B3%A2%E5%99%A8%E6%A8%A1%E5%9D%97%E7%A7%BB%E9%99%A4%E7%A6%BB%E7%BE%A4%E7%82%B9/</a></span></div><div class="post-copyright__notice"><span class="post-copyright-meta"><i class="fas fa-circle-exclamation fa-fw"></i>版权声明: </span><span class="post-copyright-info">本博客所有文章除特别声明外，均采用 <a href="https://creativecommons.org/licenses/by-nc-sa/4.0/" 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fa-stream"></i><span>目录</span><span class="toc-percentage"></span></div><div class="toc-content"><ol class="toc"><li class="toc-item toc-level-1"><a class="toc-link" href="#%E5%8D%8A%E5%BE%84%E5%BC%82%E5%B8%B8%E5%80%BC%E7%A7%BB%E9%99%A4%E5%92%8C%E6%9D%A1%E4%BB%B6%E7%A7%BB%E9%99%A4"><span class="toc-number">1.</span> <span class="toc-text">半径异常值移除和条件移除</span></a><ol class="toc-child"><li class="toc-item toc-level-2"><a class="toc-link" href="#%E5%8D%8A%E5%BE%84%E5%BC%82%E5%B8%B8%E5%80%BC%E7%A7%BB%E9%99%A4%E5%8E%9F%E7%90%86"><span class="toc-number">1.1.</span> <span class="toc-text">半径异常值移除原理</span></a><ol class="toc-child"><li class="toc-item toc-level-3"><a class="toc-link" href="#%E5%8F%82%E6%95%B0%E8%AF%B4%E6%98%8E"><span class="toc-number">1.1.1.</span> <span class="toc-text">参数说明</span></a></li><li class="toc-item toc-level-3"><a class="toc-link" href="#%E7%AE%97%E6%B3%95%E7%89%B9%E7%82%B9"><span class="toc-number">1.1.2.</span> <span class="toc-text">算法特点</span></a></li><li class="toc-item toc-level-3"><a class="toc-link" href="#%E5%8F%82%E6%95%B0%E9%80%89%E6%8B%A9%E5%BB%BA%E8%AE%AE"><span class="toc-number">1.1.3.</span> <span class="toc-text">参数选择建议</span></a></li></ol></li><li class="toc-item toc-level-2"><a class="toc-link" href="#%E6%9D%A1%E4%BB%B6%E7%A7%BB%E9%99%A4%E5%8E%9F%E7%90%86"><span class="toc-number">1.2.</span> <span class="toc-text">条件移除原理</span></a><ol class="toc-child"><li class="toc-item toc-level-3"><a class="toc-link" href="#%E5%85%B3%E9%94%AE%E5%8F%82%E6%95%B0%E8%AF%B4%E6%98%8E"><span class="toc-number">1.2.1.</span> <span class="toc-text">关键参数说明</span></a></li><li class="toc-item toc-level-3"><a class="toc-link" href="#%E6%9D%A1%E4%BB%B6%E7%B1%BB%E5%9E%8B"><span class="toc-number">1.2.2.</span> <span class="toc-text">条件类型</span></a><ol class="toc-child"><li class="toc-item toc-level-4"><a class="toc-link" href="#1-%E5%8D%95%E6%9D%A1%E4%BB%B6"><span class="toc-number">1.2.2.1.</span> <span class="toc-text">(1) 单条件</span></a></li><li class="toc-item toc-level-4"><a class="toc-link" href="#2-%E5%A4%9A%E6%9D%A1%E4%BB%B6%E7%BB%84%E5%90%88%EF%BC%88AND-OR%EF%BC%89"><span class="toc-number">1.2.2.2.</span> <span class="toc-text">(2) 多条件组合（AND &#x2F; OR）</span></a></li><li class="toc-item toc-level-4"><a class="toc-link" href="#3-%E5%85%B6%E4%BB%96%E5%AD%97%E6%AE%B5%EF%BC%88%E5%BC%BA%E5%BA%A6%E3%80%81%E9%A2%9C%E8%89%B2%E7%AD%89%EF%BC%89"><span class="toc-number">1.2.2.3.</span> <span class="toc-text">(3) 其他字段（强度、颜色等）</span></a></li></ol></li></ol></li><li class="toc-item toc-level-2"><a class="toc-link" href="#%E4%BB%A3%E7%A0%81%E5%AE%9E%E7%8E%B0"><span class="toc-number">1.3.</span> <span class="toc-text">代码实现</span></a></li><li class="toc-item toc-level-2"><a class="toc-link" href="#%E7%BB%88%E7%AB%AF%E8%BE%93%E5%87%BA%E5%AE%9E%E4%BE%8B"><span class="toc-number">1.4.</span> <span class="toc-text">终端输出实例</span></a></li><li class="toc-item toc-level-2"><a class="toc-link" href="#%E5%AF%B9%E6%AF%94%E6%BB%A4%E6%B3%A2%E6%96%B9%E6%B3%95"><span class="toc-number">1.5.</span> <span class="toc-text">对比滤波方法</span></a></li></ol></li></ol></div></div><div class="card-widget card-recent-post"><div class="item-headline"><i class="fas fa-history"></i><span>最新文章</span></div><div class="aside-list"><div class="aside-list-item no-cover"><div class="content"><a class="title" href="/2025/10/05/2025-10-05-lio_sam/" title="lio_sam">lio_sam</a><time datetime="2025-10-05T02:43:51.000Z" title="发表于 2025-10-05 10:43:51">2025-10-05</time></div></div><div class="aside-list-item no-cover"><div class="content"><a class="title" href="/2025/08/12/2025-08-12-%E4%BD%BF%E7%94%A8docker%E6%90%AD%E5%BB%BApytorch%E7%8E%AF%E5%A2%83/" title="使用docker搭建pytorch环境">使用docker搭建pytorch环境</a><time datetime="2025-08-12T12:43:33.000Z" title="发表于 2025-08-12 20:43:33">2025-08-12</time></div></div><div class="aside-list-item no-cover"><div class="content"><a class="title" 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